{
  "controller":
  {
    "cf": 150000.0,
    "cr": 150000.0,
    "wheelbase": 2.95,
    "mass": 2100.0,
    "lf": 1.242,
    "lr": 1.708,
    "iz": 4329.3,
    "weightParameter": 1.0,
    "yWeightParameter": 0.06,
    "headingWeightParameter": 0.01,
    "forwardParameter": 1,
    "weightParameterLat": 1
  }
}